A three-branched six-degree-of-freedom robot

Abstract

The invention relates to a three-branch six-degree-of-freedom robot. The three-branch six-degree-of-freedom robot is characterized in that three branched chains which are all with a same structure are arranged between a movable platform and a fixed platform, and each branched chain comprises a connecting rod motor, two connecting rods, a connecting sleeve and a four connecting rod component; one end of a first connecting rod is connected with the connecting rod motor, the other end of the first connecting rod is connected with a second connecting rod through a ball bearing pair, the second connecting rod is connected with the movable platform through another ball bearing pair, and the second connecting rod is connected with the connecting sleeve through a sliding pair; the four connecting rod component comprises an upper portion rod piece, two drive rods and two drive rod motors, the two ends of the upper portion rod piece are connected with the two drive rods respectively, the two drive rods are connected with the two drive rod motors respectively, and the upper portion rod piece is connected with the connecting sleeve through another ball bearing pair. The three-branch six-degree-of-freedom robot has the advantages that the structure is simple and reliable, the motion of the movable platform is stable, good drive capability, robustness and bearing capacity are achieved, and the three-branch six-degree-of-freedom robot can be applied to the fields of machine tools, robot detection and the like according to different requirements.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a three-branched six-degree-of-freedom robot. Background technique [0002] Since the parallel robot was first proposed in 1938, it has been widely used in various fields of society because of its large rigidity, strong carrying capacity, small error, high precision, small self-weight-to-load ratio, good dynamic performance, and easy control. At present, there are 2 degrees of freedom, 3 degrees of freedom, 4 degrees of freedom, and 6 degrees of freedom parallel robots; among them, an essential feature of the 6 degrees of freedom parallel mechanism is that each branch has six independent degrees of freedom, or each Branches must be able to generate a six-dimensional displacement group. Therefore, on the basis of the Stewart six-degree-of-freedom parallel mechanism, by changing the type, arrangement order, and direction of the kinematic pairs in the branch, while maintaining the s...

AI Technical Summary

Problems solved by technology

[0004] The guide rails of the above-mentioned six-degree-of-freedom parallel mechanism are usually perpendicular to the static platform, arranged symmetrically and require many drives, the control method is complicated (such as 3-PPSP parallel mechanism, 9 drives), or the motion forms generated are relatively few (such as China Patent CN102626871, 3 degrees of freedom)

In addition, the motion accuracy of a single branch chain seriously affects the motion form of the moving platform, making it difficult to achieve application effects in various fields

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